amiro-os / modules / DiWheelDrive_1-1 / module.h @ 4f3a1f5e
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _AMIROOS_MODULE_H_
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#define _AMIROOS_MODULE_H_
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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#include <hal.h> |
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#include <hal_qei.h> |
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/**
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* @brief CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief Interrupt driver to use.
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*/
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#define MODULE_HAL_EXT EXTD1
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/**
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* @brief Interrupt driver configuration.
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*/
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extern EXTConfig moduleHalExtConfig;
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/**
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* @brief I2C driver to access the compass.
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*/
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#define MODULE_HAL_I2C_COMPASS I2CD1
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/**
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* @brief Configuration for the compass I2C driver.
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*/
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extern I2CConfig moduleHalI2cCompassConfig;
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/**
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* @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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*/
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#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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/**
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* @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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*/
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extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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/**
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* @brief PWM driver to use.
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*/
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#define MODULE_HAL_PWM_DRIVE PWMD2
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/**
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* @brief Configuration for the PWM driver.
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*/
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extern PWMConfig moduleHalPwmDriveConfig;
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/**
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* @brief Drive PWM channel for the left wheel forward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD 0 |
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/**
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* @brief Drive PWM channel for the left wheel backward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD 1 |
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/**
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* @brief Drive PWM channel for the right wheel forward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD 2 |
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/**
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* @brief Drive PWM channel for the right wheel backward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD 3 |
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/**
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* @brief Quadrature encooder for the left wheel.
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*/
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#define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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/**
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* @brief Quadrature encooder for the right wheel.
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*/
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#define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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/**
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* @brief Configuration for both quadrature encoders.
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*/
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extern QEIConfig moduleHalQeiConfig;
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/**
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* @brief QEI increments per wheel revolution.
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* @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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*/
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#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD1
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/**
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* @brief Configuration for the programmer serial interface driver.
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*/
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extern SerialConfig moduleHalProgIfConfig;
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/**
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* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_MOTION SPID1
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/**
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* @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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*/
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extern SPIConfig moduleHalSpiAccelerometerConfig;
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/**
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* @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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*/
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extern SPIConfig moduleHalSpiGyroscopeConfig;
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/**
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* @brief Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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#include <amiro-lld.h> |
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/**
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* @brief Interrupt channel for the SYS_SYNC signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSSYNC ((expchannel_t)1) |
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/**
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* @brief Interrupt channel for the SYS_WARMRST signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSWARMRST ((expchannel_t)2) |
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/**
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* @brief Interrupt channel for the PATH_DCSTAT signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_PATHDCSTAT ((expchannel_t)3) |
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/**
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* @brief Interrupt channel for the COMPASS_DRDY signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_COMPASSDRDY ((expchannel_t)5) |
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/**
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* @brief Interrupt channel for the SYS_PD signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSPD ((expchannel_t)7) |
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/**
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* @brief Interrupt channel for the SYS_REG_EN signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSREGEN ((expchannel_t)8) |
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/**
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* @brief Interrupt channel for the IR_INT signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_IRINT ((expchannel_t)12) |
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/**
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* @brief Interrupt channel for the GYRO_DRDY signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_GYRODRDY ((expchannel_t)13) |
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/**
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* @brief Interrupt channel for the SYS_UART_UP signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSUARTUP ((expchannel_t)14) |
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/**
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* @brief Interrupt channel for the ACCEL_INT signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_ACCELINT ((expchannel_t)15) |
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/**
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* @brief LED output signal GPIO.
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*/
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extern apalGpio_t moduleGpioLed;
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/**
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* @brief POWER_EN output signal GPIO.
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*/
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extern apalGpio_t moduleGpioPowerEn;
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/**
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* @brief COMPASS_DRDY input signal GPIO.
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*/
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extern apalGpio_t moduleGpioCompassDrdy;
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/**
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* @brief IR_INT input signal GPIO.
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*/
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extern apalGpio_t moduleGpioIrInt;
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/**
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* @brief GYRO_DRDY input signal GPIO.
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*/
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extern apalGpio_t moduleGpioGyroDrdy;
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysUartUp;
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/**
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* @brief ACCEL_INT input signal GPIO.
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*/
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extern apalGpio_t moduleGpioAccelInt;
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/**
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* @brief SYS_SNYC bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysSync;
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/**
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* @brief PATH_DCSTAT input signal GPIO.
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*/
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extern apalGpio_t moduleGpioPathDcStat;
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/**
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* @brief PATH_DCEN output signal GPIO.
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*/
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extern apalGpio_t moduleGpioPathDcEn;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_REG_EN input signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysRegEn;
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/**
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* @brief SYS_WARMRST bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysWarmrst;
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSSYNC)) |
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/**
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* @brief Event flag to be set on a SYS_WARMRST interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSWARMRST)) |
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/**
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* @brief Event flag to be set on a PATH_DCSTAT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_PATHDCSTAT)) |
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/**
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* @brief Event flag to be set on a COMPASS_DRDY interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_COMPASSDRDY)) |
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSPD)) |
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/**
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* @brief Event flag to be set on a SYS_REG_EN interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSREGEN)) |
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/**
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* @brief Event flag to be set on a IR_INT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_IRINT)) |
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/**
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* @brief Event flag to be set on a GYRO_DRDY interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_GYRODRDY)) |
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/**
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* @brief Event flag to be set on a SYS_UART_UP interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSUARTUP)) |
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/**
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* @brief Event flag to be set on a ACCEL_INT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_ACCELINT)) |
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/**
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* @brief PD signal for SSSP.
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*/
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extern apalControlGpio_t moduleSsspPd;
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/**
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* @brief SYNC signal for SSSP.
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*/
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extern apalControlGpio_t moduleSsspSync;
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/**
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* @brief Shell prompt text.
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*/
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extern const char* moduleShellPrompt; |
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/**
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* @brief Additional HAL initialization hook.
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*/
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#define MODULE_INIT_HAL_EXTRA() { \
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qeiInit(); \ |
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} |
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/**
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* @brief Unit test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \
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aosShellAddCommand(aos.shell, &moduleUtAlldA3906.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldLed.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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} |
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/**
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* @brief Periphery communication interfaces initialization hook.
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*/
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* I2C */ \
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moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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/* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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/* PWM */ \
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pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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/* QEI */ \
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qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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} |
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/**
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* @brief Hook to handle IO events during SSSP startup synchronization.
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*/
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#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) { \
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/* ignore all events */ \
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(void)mask; \
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(void)flags; \
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} |
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/**
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* @brief Periphery communication interface deinitialization hook.
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*/
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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/* PWM */ \
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pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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/* QEI */ \
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qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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} |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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#include <alld_a3906.h> |
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#include <alld_at24c01bn-sh-b.h> |
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#include <alld_hmc5883l.h> |
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#include <alld_ina219.h> |
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#include <alld_l3g4200d.h> |
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#include <alld_led.h> |
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#include <alld_lis331dlh.h> |
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#include <alld_ltc4412.h> |
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#include <alld_pca9544a.h> |
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#include <alld_tps62113.h> |
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#include <alld_vcnl4020.h> |
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|
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/**
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* @brief Motor driver.
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*/
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extern A3906Driver moduleLldMotors;
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/**
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* @brief EEPROM driver.
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*/
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extern AT24C01BNDriver moduleLldEeprom;
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|
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/**
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* @brief Compass driver.
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*/
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extern HMC5883LDriver moduleLldCompass;
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|
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/**
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* @brief Power monitor (VDD) driver.
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*/
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extern INA219Driver moduleLldPowerMonitorVdd;
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|
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/**
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* @brief Gyroscope driver.
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*/
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extern L3G4200DDriver moduleLldGyroscope;
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/**
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* @brief Status LED driver.
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*/
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extern LEDDriver moduleLldStatusLed;
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/**
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* @brief Accelerometer driver.
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*/
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extern LIS331DLHDriver moduleLldAccelerometer;
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|
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/**
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* @brief Power path controler (charging pins) driver.
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*/
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extern LTC4412Driver moduleLldPowerPathController;
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/**
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* @brief I2C multiplexer driver.
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*/
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extern PCA9544ADriver moduleLldI2cMultiplexer;
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/**
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* @brief Step down converter (VDRIVE) driver.
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*/
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extern TPS62113Driver moduleLldStepDownConverterVdrive;
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/**
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* @brief Proximity sensor driver.
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*/
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extern VCNL4020Driver moduleLldProximity;
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <ut_alld_a3906.h> |
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#include <ut_alld_at24c01bn-sh-b.h> |
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#include <ut_alld_hmc5883l.h> |
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#include <ut_alld_ina219.h> |
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#include <ut_alld_l3g4200d.h> |
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#include <ut_alld_led.h> |
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#include <ut_alld_lis331dlh.h> |
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#include <ut_alld_ltc4412.h> |
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#include <ut_alld_pca9544a.h> |
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#include <ut_alld_tps62113.h> |
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#include <ut_alld_vcnl4020.h> |
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|
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/**
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* @brief A3906 (motor driver) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldA3906;
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/**
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* @brief AT24C01BN-SH-B (EEPROM) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldAt24c01bn;
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/**
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* @brief HMC5883L (compass) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldHmc5883l;
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/**
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* @brief INA219 (power monitor) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldIna219;
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/**
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* @brief L3G4200D (gyroscope) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldL3g4200d;
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/**
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* @brief Status LED unit test object.
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*/
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extern aos_unittest_t moduleUtAlldLed;
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/**
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* @brief LIS331DLH (accelerometer) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldLis331dlh;
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/**
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* @brief LTC4412 (power path controller) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldLtc4412;
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/**
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* @brief PCA9544A (I2C multiplexer) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldPca9544a;
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/**
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* @brief TPS62113 (step-down converter) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldTps62113;
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/**
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* @brief VCNL4020 (proximity sensor) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldVcnl4020;
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/** @} */
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#endif /* _AMIROOS_MODULE_H_ */ |